Many modifications have been proposed to improve the Smith predictor structure used to control plant with time-delay.
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Lanusse, P., Oustaloup, A. (2007). Robustness Comparison of Smith Predictor-based Control and Fractional-Order Control. In: Sabatier, J., Agrawal, O.P., Machado, J.A.T. (eds) Advances in Fractional Calculus. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-6042-7_35
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